Abstract

This paper describes a hybrid technique to produce physically plau-
sible response for animated character. The approach includes the
automatic, adaptive selection of the dynamic articulation necessary
for local-body responses based on the changing conditions of the
character. This method is combined with a whole-body reaction to
disturbances which is computed and controlled separately. Com-
bined, the resulting response effects the entire body as well as the
local area of a disturbance without the need for an explicit full-body
controller and the response computed is both deliberate (controlled)
and passive (uncontrolled). The results showcase a variety of sce-
narios including fast and sustained contact.